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反小陀螺前置代码已完成。

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This commit is contained in:
xinyang
2019-07-16 16:31:58 +08:00
parent 298c4c9114
commit 73230d91f1
24 changed files with 18873 additions and 18675 deletions
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57
armor/include/armor_finder/armor_finder.h
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@@ -13,8 +13,11 @@
#include <armor_finder/classifier/classifier.h>
#include <additions/additions.h>
#define BLOB_RED ENEMY_RED
#define BLOB_BLUE ENEMY_BLUE
#define BLOB_RED ENEMY_RED
#define BLOB_BLUE ENEMY_BLUE
#define BOX_RED ENEMY_RED
#define BOX_BLUE ENEMY_BLUE
#define DISTANCE_HEIGHT_5MM (113.0) // 单位: m*pixel
#define DISTANCE_HEIGHT DISTANCE_HEIGHT_5MM
@@ -22,21 +25,53 @@
extern std::map<int, string> id2name; //装甲板id到名称的map
extern std::map<string, int> name2id; //装甲板名称到id的map
/******************* 灯条类定义 ***********************/
class LightBlob {
public:
cv::RotatedRect rect; //灯条位置
double length; //灯条长度
uint8_t BlobColor; //灯条颜色
uint8_t blob_color; //灯条颜色
LightBlob(cv::RotatedRect &r) : rect(r) {
LightBlob(cv::RotatedRect &r, uint8_t color) : rect(r), blob_color(color) {
length = max(rect.size.height, rect.size.width);
};
LightBlob() = default;
};
typedef std::vector<LightBlob> LightBlobs;
/******************* 装甲板类定义　**********************/
class ArmorBox{
public:
cv::Rect2d rect;
LightBlobs light_blobs;
uint8_t box_color;
int id;
explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0);
double blobsDistance() const{
if(light_blobs.size() == 2){
auto &x = light_blobs[0].rect.center;
auto &y = light_blobs[1].rect.center;
return sqrt((x.x-y.x)*(x.x-y.x) + (x.y-y.y)*(x.y-y.y));
}
}
double lengthDistanceRatio() const {
if(light_blobs.size() == 2){
return (light_blobs[0].length+light_blobs[1].length)/2.0
/ blobsDistance();
}else{
return 100;
}
}
};
typedef std::vector<ArmorBox> ArmorBoxes;
/********************* 自瞄类定义 **********************/
class ArmorFinder{
public:
@@ -50,11 +85,9 @@ private:
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
} State; // 自瞄状态枚举定义
cv::Mat src_raw; // 当前原图
const uint8_t &enemy_color; // 敌方颜色，引用外部变量，自动变化
State state; // 自瞄状态对象实例
cv::Rect2d armor_box; // 当前目标位置
int boxid; // 当前目标id
ArmorBox armor_box; // 当前目标装甲板
cv::Ptr<cv::Tracker> tracker; // tracker对象实例
Classifier classifier; // CNN分类器对象实例，用于数字识别
int contour_area; // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用）
@@ -62,15 +95,15 @@ private:
Serial &serial; // 串口对象，引用外部变量，用于和能量机关共享同一个变量
const uint8_t &use_classifier; // 标记是否启用CNN分类器，引用外部变量，自动变化
bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs);
bool findArmorBox(const cv::Mat &src, ArmorBox &box);
bool stateSearchingTarget(cv::Mat &src); // searching state主函数
bool stateTrackingTarget(cv::Mat &src); // tracking state主函数
bool stateStandBy(); // stand by state主函数（已弃用）
bool findLightBlobs(const cv::Mat &src_bin, // 在二值图上寻找灯条
LightBlobs &light_blobs);
bool findArmorBoxes(const LightBlobs &light_blobs, // 根据灯条匹配装甲板候选区
std::vector<cv::Rect2d> &armor_boxes);
void anti_top(); // 反小陀螺
public:
void run(cv::Mat &src); // 自瞄主函数
bool sendBoxPosition(); // 和主控板通讯

9
armor/include/show_images/show_images.h
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@@ -9,9 +9,10 @@
#include <armor_finder/armor_finder.h>
//
void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box);
void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid);
void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs);
void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]);
void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBoxes &armor_boxes);
void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &armor_box);
void showLightBlobs(std::string windows_name, const cv::Mat &src, const LightBlobs &light_blobs);
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes boxes[15]);
void showTrackSearchingPos(std::string window_names, const cv::Mat &src, const cv::Rect2d pos);
#endif /* _SHOW_IMAGES_H_ */